US3604287A — Modified harmonic-drive actuators

Claim 1

Independent Claim 115 words

In an actuator of the type wherein, of two coaxial relatively rotatable, cooperating members, one is deflectible by a wave generator into lobar shape to carry a circumferential strain wave and the other is substantially nondeflectible radially, the improvement which consists in providing a rough circumferential surface defined by driving formations in either one of said two members, an an elastomeric ring of selected durometer on the other of the said two members having a smooth, deformable surface arranged to receive the embedment of the rough surface driving formations at circumferentially spaced localities, whereby one of the two members is relatively rotated when the other is held against rotation during operation of the wave-generator means.

Claim 2

Dependent Claim 115 words

In an actuator of the type wherein, of two coaxial relatively rotatable, cooperating members, one is deflectible by a wave generator into lobar shape to carry a circumferential strain wave and the other is substantially nondeflectible radially, the improvement which consists in providing a rough circumferential surface defined by driving formations in either one of said two members, an an elastomeric ring of selected durometer on the other of the said two members having a smooth, deformable surface arranged to receive the embedment of the rough surface driving formations at circumferentially spaced localities, whereby one of the two members is relatively rotated when the other is held against rotation during operation of the wave-generator means.

Claim 3

Dependent Claim 55 words

An actuator as set forth in claim 1 wherein the deflectible member is formed with the rough surface, the driving formations of said rough surface being nonuniformly spaced, and said other member is provided with an elastomeric ring of a thickness of at least about twice the depth of the projections in the rough surface.

Claim 4

Dependent Claim 82 words

An actuator as set forth in claim 1 wherein the deflectible member is tubular and open at both ends, the rough surface being at one of said ends and the other end of the tubular member is anchored in a fixed elastomeric ring of durometer adequate to prevent rotation of the tubular member about its axis yet allow a circumferential wave of deflection of a height reduced from that generated by the wave-generator means in said one end of the tubular member.

Claim 5

Dependent Claim 48 words

An actuator as set forth in claim 1 wherein the deflection is radial and the root diameter of the roughened surface of the deflectible member measured along its major axis is slightly more than the inside diameter of the elastomeric ring, as manufactured coacting with said roughened surface.

Claim 6

Dependent Claim 88 words

A rotary actuator comprising a stationary housing rotatably supporting coaxial input and output shafts, and elliptoidal wave generator driven by the input shaft about the common axis, a hollow member having a roughened surface characterized by irregularly spaced and nonuniformly shaped formations deflectible circumferentially at spaced localities relatively to said axis by the wave generator while secured against rotation to the housing, and an elastomeric member operatively connecting an end of the output shaft to the hollow member by engagement and embedment therewith at said spaced circumferential localities.

Claim 7

Dependent Claim 88 words

A rotary actuator comprising a stationary housing rotatably supporting coaxial input and output shafts, and elliptoidal wave generator driven by the input shaft about the common axis, a hollow member having a roughened surface characterized by irregularly spaced and nonuniformly shaped formations deflectible circumferentially at spaced localities relatively to said axis by the wave generator while secured against rotation to the housing, and an elastomeric member operatively connecting an end of the output shaft to the hollow member by engagement and embedment therewith at said spaced circumferential localities.

Claim 8

Dependent Claim 46 words

An actuator as set forth in claim 5 wherein the nonrotary hollow member has its roughened surface in the form of a truncated cone, and the input shaft is axially shiftable to urge the wave generator into and out of operating engagement with the hollow member.

Claim 9

Dependent Claim 124 words

A rotary actuator comprising a stationary housing rotatably supporting coaxial input and output shafts, wave-generator means mounted on the input shaft and including circumferentially spaced rolling elements, an elastomeric face ring secured in the housing and extending about the common axis in a plane substantially normal thereto, and an axially deflectible disk secured on the inner end of the output shaft and interposed between the operating path of the rolling elements and said face ring, at least one of the confronting faces of the disk and the elastomeric ring being roughened with driving formations whereby interacting embedment of these formations is effected by the wave-generator elements in the relatively smooth coacting face of the other of the disk and ring at circumferentially spaced localities.

Claim 10

Dependent Claim 124 words

A rotary actuator comprising a stationary housing rotatably supporting coaxial input and output shafts, wave-generator means mounted on the input shaft and including circumferentially spaced rolling elements, an elastomeric face ring secured in the housing and extending about the common axis in a plane substantially normal thereto, and an axially deflectible disk secured on the inner end of the output shaft and interposed between the operating path of the rolling elements and said face ring, at least one of the confronting faces of the disk and the elastomeric ring being roughened with driving formations whereby interacting embedment of these formations is effected by the wave-generator elements in the relatively smooth coacting face of the other of the disk and ring at circumferentially spaced localities.

Claim 11

Dependent Claim 33 words

An actuator as set forth in claim 7 wherein the confronting face of the deflectible disk is formed with nonuniform working projections and the ring has a smooth face for embedding said projections.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	1974-09-13	1975-03-15	1975-09-14	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	1978-09-13	1979-03-15	1979-09-14	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	1982-09-13	1983-03-15	1983-09-14	$7700.00	Window Closed / Lapsed

Modified harmonic-drive actuators

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